LAMPIRAN CODE PROGRAM ASSEMBLY. $mod51 servo1 equ p3.5 servo2 equ p3.3 servo3 equ p1.7 servo4 equ p1.5 servo5 equ p1.3 servo6 equ p1.

Transkripsi

1 L1 LAMPIRAN CODE PROGRAM ASSEMBLY $mod51 servo1 equ p3.5 servo2 equ p3.3 servo3 equ p1.7 servo4 equ p1.5 servo5 equ p1.3 servo6 equ p1.1 led1 equ p3.4 led2 equ p3.2 led3 equ p3.7 led4 equ p3.6 led5 equ p1.2 led6 equ p1.0 sw equ p2.0 cw1 equ p2.3 ccw1 equ p2.4 cw2 equ p2.5 ccw2 equ p2.6 cw3 equ p2.7 ccw3 equ p0.7 cw4 equ p0.5 ccw4 equ p0.4 cw5 equ p0.3 ccw5 equ p0.2 cw6 equ p0.1 ccw6 equ p0.0 turun1 equ 30h turun2 equ 31h turun3 equ 32h turun4 equ 33h turun5 equ 34h turun6 equ 35h turun7 equ 36h turun8 equ 37h turun9 equ 38h turun10 equ 39h time_servo equ 50h time_servo1 equ 51h time_servo2 equ 52h time_servo3 equ 53h time_servo4 equ 54h time_servo5 equ 55h

2 L2 time_servo6 equ 56h pakai1 equ 57h pakai2 equ 58h pakai3 equ 59h pakai4 equ 5ah pakai5 equ 5bh pakai6 equ 5ch org 0000h sjmp main org 0030h main: clr led1 clr led2 clr led3 clr led4 clr led5 clr led6 clr servo1 clr servo2 clr servo3 clr servo4 clr servo5 clr servo6 mov scon,#50h mov tmod,#20h mov th1,#-3 mov a,pcon clr 0e7h mov pcon,a setb tr1 ajmp tunggu_serial2 ; ;Tunggu terima data dari Serial Port ; tunggu_serial1: jb sw,tunggu_serial2a ajmp sw_prog tunggu_serial2: clr ri tunggu_serial2a: jnb ri,tunggu_serial1 mov 40h,sbuf clr ri jnb ri,$

3 L3 mov 41h,sbuf clr ri jnb ri,$ mov 42h,sbuf clr ri jnb ri,$ mov 43h,sbuf clr ri jnb ri,$ mov 44h,sbuf clr ri jnb ri,$ mov 45h,sbuf clr ri jnb ri,$ mov 46h,sbuf clr ri jnb ri,$ mov 47h,sbuf clr ri jnb ri,$ mov 48h,sbuf clr ri jnb ri,$ mov 49h,sbuf clr ri jnb ri,$ mov 4ah,sbuf clr ri jnb ri,$ mov 4bh,sbuf clr ri jnb ri,$ mov 4ch,sbuf clr ri jnb ri,$ mov 4dh,sbuf clr ri jnb ri,$ mov 4eh,sbuf clr ri jnb ri,$

4 L4 mov 4fh,sbuf clr ri jnb ri,$ mov 5dh,sbuf clr ri jnb ri,$ mov 5eh,sbuf mov r0,#40h mov r1,#42h acall cek_data mov r0,#43h mov r1,#45h acall cek_data mov r0,#46h mov r1,#48h acall cek_data mov r0,#49h mov r1,#4bh acall cek_data mov r0,#4ch mov r1,#4eh acall cek_data mov r0,#4fh mov r1,#5eh acall cek_data ; ;Proses memutar Servo ; proses_servo: mov pakai1,#0 mov pakai2,#0 mov pakai3,#0 mov pakai4,#0 mov pakai5,#0 mov pakai6,#0 mov turun1,#200 mov turun2,#200 mov turun3,#200 mov turun4,#200 mov turun5,#200

5 L5 mov turun6,#200 mov turun7,#200 mov turun8,#200 mov turun9,#200 mov turun10,#200 setb servo1 jeda1: inc pakai1 acall delay10us djnz time_servo1,jeda1 clr servo1 setb servo2 jeda2: inc pakai2 acall delay10us djnz time_servo2,jeda2 clr servo2 setb servo3 jeda3: inc pakai3 acall delay10us djnz time_servo3,jeda3 clr servo3 setb servo4 jeda4: inc pakai4 acall delay10us djnz time_servo4,jeda4 clr servo4 setb servo5 jeda5: inc pakai5 acall delay10us djnz time_servo5,jeda5 clr servo5 setb servo6 jeda6: inc pakai6 acall delay10us djnz time_servo6,jeda6 clr servo6 clr c mov a,turun1 subb a,pakai1 mov turun1,a

6 L6 clr c mov a,turun2 subb a,pakai2 mov turun2,a clr c mov a,turun3 subb a,pakai3 mov turun3,a clr c mov a,turun4 subb a,pakai4 mov turun4,a clr c mov a,turun5 subb a,pakai5 mov turun5,a clr c mov a,turun6 subb a,pakai6 mov turun6,a wait_turun1: acall delay10us djnz turun1,wait_turun1 wait_turun2: acall delay10us djnz turun2,wait_turun2 wait_turun3: acall delay10us djnz turun3,wait_turun3 wait_turun4: acall delay10us djnz turun4,wait_turun4 wait_turun5: acall delay10us djnz turun5,wait_turun5 wait_turun6: acall delay10us

7 L7 djnz turun6,wait_turun6 wait_turun7: acall delay10us djnz turun7,wait_turun7 wait_turun8: acall delay10us djnz turun8,wait_turun8 wait_turun9: acall delay10us djnz turun9,wait_turun9 wait_turun10: acall delay10us djnz turun10,wait_turun10 ajmp tunggu_serial2 ; ;Proses cek data yang diterima dari Serial Port ; cek_data: mov cek_servo1: cjne a,#'1',cek_servo2 lcall cek_arah mov time_servo1,time_servo cek_servo2: cjne a,#'2',cek_servo3 lcall cek_arah mov time_servo2,time_servo cek_servo3: cjne a,#'3',cek_servo4 lcall cek_arah mov time_servo3,time_servo cek_servo4: cjne a,#'4',cek_servo5 lcall cek_arah mov time_servo4,time_servo

8 L8 cek_servo5: cjne a,#'5',cek_servo6 lcall cek_arah mov time_servo5,time_servo cek_servo6: cjne a,#'6',bukan_servo lcall cek_arah mov time_servo6,time_servo bukan_servo: ; ;Proses cek arah putaran servo ; cek_arah: mov arah0: cjne a,#'0',arah1 mov time_servo,#175 arah1: cjne a,#'1',arah2 mov time_servo,#165 arah2: cjne a,#'2',arah3 mov time_servo,#155 arah3: cjne a,#'3',arah4 mov time_servo,#145 arah4: cjne a,#'4',arah5 mov time_servo,#135 arah5: cjne a,#'5',arah6 mov time_servo,#125 arah6: cjne a,#'6',arah7 mov time_servo,#115

9 L9 arah7: cjne a,#'7',arah8 mov time_servo,#105 arah8: cjne a,#'8',arah9 mov time_servo,#95 arah9: cjne a,#'9',araha mov time_servo,#85 araha: cjne a,#'a',arahb mov time_servo,#75 arahb: cjne a,#'b',arahc mov time_servo,#65 arahc: cjne a,#'c',bukan_arah mov time_servo,#55 bukan_arah: ; ;Program deteksi switch tanpa komputer PC ; sw_prog: mov 60h,#1 mov 61h,#6 mov 62h,#2 mov 63h,#6 mov 64h,#3 mov 65h,#6 mov 66h,#4 mov 67h,#6 mov 68h,#5 mov 69h,#6 mov 6ah,#6 mov 6bh,#6 sw_prog1: jnb sw,cek_cw1

10 L10 ajmp tunggu_serial2 ; cek_cw1:jb cw1,cek_ccw1 setb led1 lcall delay jnb cw1,$ clr led1 mov a,61h cjne a,#12,cek_cw1a ajmp sw_prog2 cek_cw1a: inc 61h ajmp sw_prog2 cek_ccw1: jb ccw1,cek_cw2 setb led1 lcall delay jnb ccw1,$ clr led1 mov a,61h cjne a,#0,cek_ccw1a ajmp sw_prog2 cek_ccw1a: dec 61h ajmp sw_prog2 ; cek_cw2: jb cw2,cek_ccw2 setb led2 lcall delay jnb cw2,$ clr led2 mov a,63h cjne a,#12,cek_cw2a ajmp sw_prog2 cek_cw2a: inc 63h ajmp sw_prog2 cek_ccw2: jb ccw2,cek_cw3 setb led2 lcall delay

11 L11 jnb ccw2,$ clr led2 mov a,63h cjne a,#0,cek_ccw2a ajmp sw_prog2 cek_ccw2a: dec 63h ajmp sw_prog2 ; cek_cw3: jb cw3,cek_ccw3 setb led3 lcall delay jnb cw3,$ clr led3 mov a,65h cjne a,#12,cek_cw3a ajmp sw_prog2 cek_cw3a: inc 65h ajmp sw_prog2 cek_ccw3: jb ccw3,cek_cw4 setb led3 lcall delay jnb ccw3,$ clr led3 mov a,65h cjne a,#0,cek_ccw3a ajmp sw_prog2 cek_ccw3a: dec 65h ajmp sw_prog2 ; cek_cw4: jb cw4,cek_ccw4 setb led4 lcall delay jnb cw4,$ clr led4 mov a,67h cjne a,#12,cek_cw4a ajmp sw_prog2

12 L12 cek_cw4a: inc 67h ajmp sw_prog2 cek_ccw4: jb ccw4,cek_cw5 setb led4 lcall delay jnb ccw4,$ clr led4 mov a,67h cjne a,#0,cek_ccw4a ajmp sw_prog2 cek_ccw4a: dec 67h ajmp sw_prog2 ; cek_cw5: jb cw5,cek_ccw5 setb led5 lcall delay jnb cw5,$ clr led5 mov a,69h cjne a,#12,cek_cw5a ajmp sw_prog2 cek_cw5a: inc 69h ajmp sw_prog2 cek_ccw5: jb ccw5,cek_cw6 setb led5 lcall delay jnb ccw5,$ clr led5 mov a,69h cjne a,#0,cek_ccw5a ajmp sw_prog2 cek_ccw5a: dec 69h ajmp sw_prog2 ;

13 L13 cek_cw6: jb cw6,cek_ccw6 setb led6 lcall delay jnb cw6,$ clr led6 mov a,6bh cjne a,#12,cek_cw6a ajmp sw_prog2 cek_cw6a: inc 6bh ajmp sw_prog2 cek_ccw6: jb ccw6,sw_prog2 setb led6 lcall delay jnb ccw6,$ clr led6 mov a,6bh cjne a,#0,cek_ccw6a ajmp sw_prog2 cek_ccw6a: dec 6bh ajmp sw_prog2 ; sw_prog2: mov r0,#60h mov r1,#61h acall cek_datax mov r0,#62h mov r1,#63h acall cek_datax mov r0,#64h mov r1,#65h acall cek_datax mov r0,#66h mov r1,#67h acall cek_datax mov r0,#68h mov r1,#69h

14 L14 acall cek_datax mov r0,#6ah mov r1,#6bh acall cek_datax ; ;Proses memutar Servo tanpa komputer PC ; proses_servox: mov pakai1,#0 mov pakai2,#0 mov pakai3,#0 mov pakai4,#0 mov pakai5,#0 mov pakai6,#0 mov turun1,#200 mov turun2,#200 mov turun3,#200 mov turun4,#200 mov turun5,#200 mov turun6,#200 mov turun7,#200 mov turun8,#200 mov turun9,#200 mov turun10,#200 setb servo1 jeda1x: inc pakai1 acall delay10us djnz time_servo1,jeda1x clr servo1 setb servo2 jeda2x: inc pakai2 acall delay10us djnz time_servo2,jeda2x clr servo2 setb servo3 jeda3x: inc pakai3 acall delay10us djnz time_servo3,jeda3x clr servo3 setb servo4 jeda4x: inc pakai4

15 L15 acall delay10us djnz time_servo4,jeda4x clr servo4 setb servo5 jeda5x: inc pakai5 acall delay10us djnz time_servo5,jeda5x clr servo5 setb servo6 jeda6x: inc pakai6 acall delay10us djnz time_servo6,jeda6x clr servo6 clr c mov a,turun1 subb a,pakai1 mov turun1,a clr c mov a,turun2 subb a,pakai2 mov turun2,a clr c mov a,turun3 subb a,pakai3 mov turun3,a clr c mov a,turun4 subb a,pakai4 mov turun4,a clr c mov a,turun5 subb a,pakai5 mov turun5,a clr c mov a,turun6 subb a,pakai6 mov turun6,a wait_turun1x:

16 L16 acall delay10us djnz turun1,wait_turun1x wait_turun2x: acall delay10us djnz turun2,wait_turun2x wait_turun3x: acall delay10us djnz turun3,wait_turun3x wait_turun4x: acall delay10us djnz turun4,wait_turun4x wait_turun5x: acall delay10us djnz turun5,wait_turun5x wait_turun6x: acall delay10us djnz turun6,wait_turun6x wait_turun7x: acall delay10us djnz turun7,wait_turun7x wait_turun8x: acall delay10us djnz turun8,wait_turun8x wait_turun9x: acall delay10us djnz turun9,wait_turun9x wait_turun10x: acall delay10us djnz turun10,wait_turun10x ajmp sw_prog1 ; ;Program cek servo tanpa menggunakan Komputer ; cek_datax: mov cek_servo1x: cjne a,#1,cek_servo2x

17 L17 lcall cek_arahx mov time_servo1,time_servo cek_servo2x: cjne a,#2,cek_servo3x lcall cek_arahx mov time_servo2,time_servo cek_servo3x: cjne a,#3,cek_servo4x lcall cek_arahx mov time_servo3,time_servo cek_servo4x: cjne a,#4,cek_servo5x lcall cek_arahx mov time_servo4,time_servo cek_servo5x: cjne a,#5,cek_servo6x lcall cek_arahx mov time_servo5,time_servo cek_servo6x: cjne a,#6,bukan_servox lcall cek_arahx mov time_servo6,time_servo bukan_servox: ; ;Proses cek arah putaran servo sesuai tombol ; cek_arahx: mov arah0x:cjne a,#0,arah1x mov time_servo,#175

18 L18 arah1x:cjne a,#1,arah2x mov time_servo,#165 arah2x:cjne a,#2,arah3x mov time_servo,#155 arah3x:cjne a,#3,arah4x mov time_servo,#145 arah4x:cjne a,#4,arah5x mov time_servo,#135 arah5x:cjne a,#5,arah6x mov time_servo,#125 arah6x:cjne a,#6,arah7x mov time_servo,#115 arah7x:cjne a,#7,arah8x mov time_servo,#105 arah8x:cjne a,#8,arah9x mov time_servo,#95 arah9x:cjne a,#9,arahax mov time_servo,#85 arahax: cjne a,#10,arahbx mov time_servo,#75 arahbx:cjne a,#11,arahcx mov time_servo,#65 arahcx: cjne a,#12,bukan_arahx mov time_servo,#55

19 L19 bukan_arahx: ; ;Subrutin Delay ; delay20ms: push 70h push 71h mov 70h,#20 loop20a: mov 71h,#200 loop20b:nop nop nop djnz 71h,loop20b djnz 70h,loop20a pop 71h pop 70h delay10us: nop nop nop nop nop nop delay: push 70h push 71h mov 70h,#200 loop1: mov 71h,#200 loop: nop nop nop djnz 71h,loop djnz 70h,loop1 pop 71h pop 70h

20 L20 LAMPIRAN LISTING PROGRAM VISUAL BASIC 1. Listing Program Module Public Declare Function GetPrivateProfileString Lib "kernel32" Alias _ "GetPrivateProfileStringA" (ByVal lpapplicationname As String, ByVal _ lpkeyname As Any, ByVal lpdefault As String, ByVal lpreturnedstring As String, _ ByVal nsize As Long, ByVal lpfilename As String) As Long Public Declare Function WritePrivateProfileString Lib "kernel32" Alias _ "WritePrivateProfileStringA" (ByVal lpapplicationname As String, ByVal _ lpkeyname As Any, ByVal lpstring As Any, ByVal lpfilename As String) As Long Public nsa1 As String Public nsa2 As String Public nsa3 As String Public nsa4 As String Public nsa5 As String Public nsa6 As String Public nsb1 As String Public nsb2 As String Public nsb3 As String Public nsb4 As String Public nsb5 As String Public nsb6 As String Public INIFileName As String Public pathload As String Public Sub getisistr() Dim isa1 As String * 20 Dim isa2 As String * 20 Dim isa3 As String * 20 Dim isa4 As String * 20 Dim isa5 As String * 20 Dim isa6 As String * 20 Dim isb1 As String * 20 Dim isb2 As String * 20 Dim isb3 As String * 20 Dim isb4 As String * 20 Dim isb5 As String * 20 Dim isb6 As String * 20

21 L21 'INIFileName = App.Path & "\Template.txt" ' Result1 = GetPrivateProfileString("ATAS", "Servo1", "", isa1, Len(iSa1), INIFileName) Result2 = GetPrivateProfileString("ATAS", "Servo2", "", isa2, Len(iSa2), INIFileName) Result3 = GetPrivateProfileString("ATAS", "Servo3", "", isa3, Len(iSa3), INIFileName) Result4 = GetPrivateProfileString("ATAS", "Servo4", "", isa4, Len(iSa4), INIFileName) Result5 = GetPrivateProfileString("ATAS", "Servo5", "", isa5, Len(iSa5), INIFileName) Result6 = GetPrivateProfileString("ATAS", "Servo6", "", isa6, Len(iSa6), INIFileName) Result7 = GetPrivateProfileString("BAWAH", "Servo1", "", isb1, Len(iSb1), INIFileName) Result8 = GetPrivateProfileString("BAWAH", "Servo2", "", isb2, Len(iSb2), INIFileName) Result9 = GetPrivateProfileString("BAWAH", "Servo3", "", isb3, Len(iSb3), INIFileName) Result10 = GetPrivateProfileString("BAWAH", "Servo4", "", isb4, Len(iSb4), INIFileName) Result11 = GetPrivateProfileString("BAWAH", "Servo5", "", isb5, Len(iSb5), INIFileName) Result12 = GetPrivateProfileString("BAWAH", "Servo6", "", isb6, Len(iSb6), INIFileName) ' nsa1 = LCase(tanpaspace(iSa1)) nsa2 = LCase(tanpaspace(iSa2)) nsa3 = LCase(tanpaspace(iSa3)) nsa4 = LCase(tanpaspace(iSa4)) nsa5 = LCase(tanpaspace(iSa5)) nsa6 = LCase(tanpaspace(iSa6)) nsb1 = LCase(tanpaspace(iSb1)) nsb2 = LCase(tanpaspace(iSb2)) nsb3 = LCase(tanpaspace(iSb3)) nsb4 = LCase(tanpaspace(iSb4)) nsb5 = LCase(tanpaspace(iSb5)) nsb6 = LCase(tanpaspace(iSb6)) End Sub

22 L22 Public Function tanpaspace(byval strstring As String) As String Dim i As Integer, ninstr As Integer Const strvar = " ABCDEFGHIJKLMNOPQRSTUVWXYZ_,./<>*-" Const strenc = " ABCDEFGHIJKLMNOPQRSTUVWXYZ_,./<>*-" 'PZMQLXKATSFCWUNEMRYHDOBVIJ ' 'PQLAMZXNSKOWIEJDBCVHFURYTG ' If Trim(strString) = "" Then tanpaspace = "" Exit Function End If strstring = UCase(strString) tanpaspace = "" For i = 1 To Len(strString) ninstr = InStr(1, strenc, Mid(strString, i, 1), vbtextcompare) If ninstr = 0 Then tanpaspace = tanpaspace + "" Else tanpaspace = tanpaspace + Mid(strVar, ninstr, 1) End If Next End Function 2. Listing Porgram Form 1 Dim urut As Integer Dim abisload As Boolean Dim jumlahfile As Integer Dim hitfile As Integer Private Sub Command1_Click() MSComm1.CommPort = Combo1.Text MSComm1.PortOpen = True urut = 1 Timer1.Enabled = True Command1.Enabled = False Combo1.Enabled = False

23 L23 End Sub Private Sub Command108_Click(Index As Integer) Label8(6).Caption = Command108(Index).Caption If Index = 0 Then Label14(6).Caption = "6,0" ElseIf Index = 1 Then Label14(6).Caption = "6,1" ElseIf Index = 2 Then Label14(6).Caption = "6,2" ElseIf Index = 3 Then Label14(6).Caption = "6,3" ElseIf Index = 4 Then Label14(6).Caption = "6,4" ElseIf Index = 5 Then Label14(6).Caption = "6,5" ElseIf Index = 6 Then Label14(6).Caption = "6,6" ElseIf Index = 7 Then Label14(6).Caption = "6,7" ElseIf Index = 8 Then Label14(6).Caption = "6,8" ElseIf Index = 9 Then Label14(6).Caption = "6,9" ElseIf Index = 10 Then Label14(6).Caption = "6,a" ElseIf Index = 11 Then Label14(6).Caption = "6,b" ElseIf Index = 12 Then Label14(6).Caption = "6,c" End If End Sub Private Sub Command18_Click(Index As Integer) Label8(1).Caption = Command18(Index).Caption 'Label14(1).Caption If Index = 0 Then Label14(1).Caption = "1,0" ElseIf Index = 1 Then Label14(1).Caption = "1,1" ElseIf Index = 2 Then Label14(1).Caption = "1,2"

24 L24 ElseIf Index = 3 Then Label14(1).Caption = "1,3" ElseIf Index = 4 Then Label14(1).Caption = "1,4" ElseIf Index = 5 Then Label14(1).Caption = "1,5" ElseIf Index = 6 Then Label14(1).Caption = "1,6" ElseIf Index = 7 Then Label14(1).Caption = "1,7" ElseIf Index = 8 Then Label14(1).Caption = "1,8" ElseIf Index = 9 Then Label14(1).Caption = "1,9" ElseIf Index = 10 Then Label14(1).Caption = "1,a" ElseIf Index = 11 Then Label14(1).Caption = "1,b" ElseIf Index = 12 Then Label14(1).Caption = "1,c" End If End Sub Private Sub Command2_Click() Dim filetujuan As String CommonDialog1.Filter = "Text Files (*.txt) *.txt" CommonDialog1.InitDir = "C:\" CommonDialog1.ShowSave If Trim(CommonDialog1.FileName) = "" Then Exit Sub 'Label9.Caption = Trim(CommonDialog1.FileName) INIFileName = App.Path & "\Template.txt" filetujuan = Trim(CommonDialog1.FileName) Result1 = WritePrivateProfileString("ATAS", "Servo1", Label8(1).Caption, INIFileName) Result2 = WritePrivateProfileString("ATAS", "Servo2", Label8(2).Caption, INIFileName) Result3 = WritePrivateProfileString("ATAS", "Servo3", Label8(3).Caption, INIFileName) Result4 = WritePrivateProfileString("ATAS", "Servo4", Label8(4).Caption, INIFileName)

25 L25 Result5 = WritePrivateProfileString("ATAS", "Servo5", Label8(5).Caption, INIFileName) Result6 = WritePrivateProfileString("ATAS", "Servo6", Label8(6).Caption, INIFileName) Result7 = WritePrivateProfileString("BAWAH", "Servo1", Label14(1).Caption, INIFileName) Result8 = WritePrivateProfileString("BAWAH", "Servo2", Label14(2).Caption, INIFileName) Result9 = WritePrivateProfileString("BAWAH", "Servo3", Label14(3).Caption, INIFileName) Result10 = WritePrivateProfileString("BAWAH", "Servo4", Label14(4).Caption, INIFileName) Result11 = WritePrivateProfileString("BAWAH", "Servo5", Label14(5).Caption, INIFileName) Result12 = WritePrivateProfileString("BAWAH", "Servo6", Label14(6).Caption, INIFileName) FileCopy INIFileName, filetujuan End Sub Private Sub Command3_Click() CommonDialog1.Filter = "Text Files (*.txt) *.txt" CommonDialog1.InitDir = "C:\" CommonDialog1.ShowOpen If Trim(CommonDialog1.FileName) = "" Then Exit Sub Label10.Caption = Trim(CommonDialog1.FileName) INIFileName = Trim(CommonDialog1.FileName) getisistr abisload = True Label8(7).Caption = nsa1 Label8(8).Caption = nsa2 Label8(9).Caption = nsa3 Label8(10).Caption = nsa4 Label8(11).Caption = nsa5 Label8(12).Caption = nsa6 End Sub

26 L26 Private Sub Command36_Click(Index As Integer) Label8(2).Caption = Command36(Index).Caption If Index = 0 Then Label14(2).Caption = "2,0" ElseIf Index = 1 Then Label14(2).Caption = "2,1" ElseIf Index = 2 Then Label14(2).Caption = "2,2" ElseIf Index = 3 Then Label14(2).Caption = "2,3" ElseIf Index = 4 Then Label14(2).Caption = "2,4" ElseIf Index = 5 Then Label14(2).Caption = "2,5" ElseIf Index = 6 Then Label14(2).Caption = "2,7" ElseIf Index = 7 Then Label14(2).Caption = "2,8" ElseIf Index = 8 Then Label14(2).Caption = "2,8" ElseIf Index = 9 Then Label14(2).Caption = "2,9" ElseIf Index = 10 Then Label14(2).Caption = "2,a" ElseIf Index = 11 Then Label14(2).Caption = "2,b" ElseIf Index = 12 Then Label14(2).Caption = "2,c" End If End Sub Private Sub Command4_Click() abisload = True If abisload = True Then ' urut = 1 ' Timer2.Enabled = True Label8(1).Caption = nsa1 Label8(2).Caption = nsa2 Label8(3).Caption = nsa3 Label8(4).Caption = nsa4

27 L27 Label8(5).Caption = nsa5 Label8(6).Caption = nsa6 Label14(1).Caption = nsb1 Label14(2).Caption = nsb2 Label14(3).Caption = nsb3 Label14(4).Caption = nsb4 Label14(5).Caption = nsb5 Label14(6).Caption = nsb6 DoEvents Label10.Caption = "" Label8(7).Caption = "" Label8(8).Caption = "" Label8(9).Caption = "" Label8(10).Caption = "" Label8(11).Caption = "" Label8(12).Caption = "" abisload = False End If End Sub Private Sub Command5_Click() Form2.Show 1 End Sub Private Sub Command54_Click(Index As Integer) Label8(3).Caption = Command54(Index).Caption If Index = 0 Then Label14(3).Caption = "3,0" ElseIf Index = 1 Then Label14(3).Caption = "3,1" ElseIf Index = 2 Then Label14(3).Caption = "3,2" ElseIf Index = 3 Then Label14(3).Caption = "3,3" ElseIf Index = 4 Then Label14(3).Caption = "3,4" ElseIf Index = 5 Then Label14(3).Caption = "3,5"

28 L28 ElseIf Index = 6 Then Label14(3).Caption = "3,6" ElseIf Index = 7 Then Label14(3).Caption = "3,7" ElseIf Index = 8 Then Label14(3).Caption = "3,8" ElseIf Index = 9 Then Label14(3).Caption = "3,9" ElseIf Index = 10 Then Label14(3).Caption = "3,a" ElseIf Index = 11 Then Label14(3).Caption = "3,b" ElseIf Index = 12 Then Label14(3).Caption = "3,c" End If End Sub Private Sub Command6_Click() jumlahfile = List1.ListCount hitfile = 1 INIFileName = pathload & List1.List(0) getisistr Label8(7).Caption = nsa1 Label8(8).Caption = nsa2 Label8(9).Caption = nsa3 Label8(10).Caption = nsa4 Label8(11).Caption = nsa5 Label8(12).Caption = nsa6 Label8(1).Caption = nsa1 Label8(2).Caption = nsa2 Label8(3).Caption = nsa3 Label8(4).Caption = nsa4 Label8(5).Caption = nsa5 Label8(6).Caption = nsa6 Label14(1).Caption = nsb1 Label14(2).Caption = nsb2 Label14(3).Caption = nsb3 Label14(4).Caption = nsb4 Label14(5).Caption = nsb5 Label14(6).Caption = nsb6

29 L29 Label8(7).Caption = "" Label8(8).Caption = "" Label8(9).Caption = "" Label8(10).Caption = "" Label8(11).Caption = "" Label8(12).Caption = "" DoEvents Timer3.Enabled = True End Sub Private Sub Timer3_Timer() If hitfile <= (jumlahfile - 1) Then INIFileName = pathload & List1.List(hitfile) getisistr Label8(7).Caption = nsa1 Label8(8).Caption = nsa2 Label8(9).Caption = nsa3 Label8(10).Caption = nsa4 Label8(11).Caption = nsa5 Label8(12).Caption = nsa6 Label8(1).Caption = nsa1 Label8(2).Caption = nsa2 Label8(3).Caption = nsa3 Label8(4).Caption = nsa4 Label8(5).Caption = nsa5 Label8(6).Caption = nsa6 Label14(1).Caption = nsb1 Label14(2).Caption = nsb2 Label14(3).Caption = nsb3 Label14(4).Caption = nsb4 Label14(5).Caption = nsb5 Label14(6).Caption = nsb6 Label8(7).Caption = "" Label8(8).Caption = "" Label8(9).Caption = "" Label8(10).Caption = "" Label8(11).Caption = "" Label8(12).Caption = ""

30 L30 DoEvents hitfile = hitfile + 1 ElseIf hitfile > (jumlahfile - 1) Then List1.Clear Timer3.Enabled = False End If End Sub Private Sub Command72_Click(Index As Integer) Label8(4).Caption = Command72(Index).Caption If Index = 0 Then Label14(4).Caption = "4,c" ElseIf Index = 1 Then Label14(4).Caption = "4,b" ElseIf Index = 2 Then Label14(4).Caption = "4,a" ElseIf Index = 3 Then Label14(4).Caption = "4,9" ElseIf Index = 4 Then Label14(4).Caption = "4,8" ElseIf Index = 5 Then Label14(4).Caption = "4,8" ElseIf Index = 6 Then Label14(4).Caption = "4,7" ElseIf Index = 7 Then Label14(4).Caption = "4,5" ElseIf Index = 8 Then Label14(4).Caption = "4,4" ElseIf Index = 9 Then Label14(4).Caption = "4,3" ElseIf Index = 10 Then Label14(4).Caption = "4,2" ElseIf Index = 11 Then Label14(4).Caption = "4,1" ElseIf Index = 12 Then Label14(4).Caption = "4,0" End If End Sub Private Sub Command90_Click(Index As Integer)

31 L31 Label8(5).Caption = Command90(Index).Caption If Index = 0 Then Label14(5).Caption = "5,0" ElseIf Index = 1 Then Label14(5).Caption = "5,1" ElseIf Index = 2 Then Label14(5).Caption = "5,2" ElseIf Index = 3 Then Label14(5).Caption = "5,3" ElseIf Index = 4 Then Label14(5).Caption = "5,4" ElseIf Index = 5 Then Label14(5).Caption = "5,5" ElseIf Index = 6 Then Label14(5).Caption = "5,6" ElseIf Index = 7 Then Label14(5).Caption = "5,7" ElseIf Index = 8 Then Label14(5).Caption = "5,8" ElseIf Index = 9 Then Label14(5).Caption = "5,9" ElseIf Index = 10 Then Label14(5).Caption = "5,a" ElseIf Index = 11 Then Label14(5).Caption = "5,b" ElseIf Index = 12 Then Label14(5).Caption = "5,c" End If End Sub Private Sub Form_Load() For i = 1 To 6 Label8(i).Caption = 0 Label14(i).Caption = CStr(i) & ",7" Next i Combo1.ListIndex = 0 End Sub Private Sub Timer1_Timer() 'If urut = 1 Then MSComm1.Output = Label14(1).Caption ' urut = urut + 1

32 L32 'ElseIf urut = 2 Then MSComm1.Output = Label14(2).Caption ' urut = urut + 1 'ElseIf urut = 3 Then MSComm1.Output = Label14(3).Caption ' urut = urut + 1 'ElseIf urut = 4 Then MSComm1.Output = Label14(4).Caption ' urut = urut + 1 'ElseIf urut = 5 Then MSComm1.Output = Label14(5).Caption ' urut = urut + 1 'ElseIf urut = 6 Then MSComm1.Output = Label14(6).Caption ' urut = 1 'End If End Sub Private Sub Timer2_Timer() If urut = 1 Then Label8(1).Caption = LCase(nSa1) Label14(1).Caption = LCase(nSb1) Label8(7).Caption = "" urut = urut + 1 ElseIf urut = 2 Then Label8(2).Caption = LCase(nSa2) Label14(2).Caption = LCase(nSb2) Label8(8).Caption = "" urut = urut + 1 ElseIf urut = 3 Then Label8(3).Caption = LCase(nSa3) Label14(3).Caption = LCase(nSb3) Label8(9).Caption = "" urut = urut + 1 ElseIf urut = 4 Then Label8(4).Caption = LCase(nSa4) Label14(4).Caption = LCase(nSb4) Label8(10).Caption = "" urut = urut + 1 ElseIf urut = 5 Then Label8(5).Caption = LCase(nSa5) Label14(5).Caption = LCase(nSb5) Label8(11).Caption = "" urut = urut + 1 ElseIf urut = 6 Then

33 L33 Label8(6).Caption = LCase(nSa6) Label14(6).Caption = LCase(nSb6) Label8(12).Caption = "" urut = 1 Timer2.Enabled = False End If DoEvents End Sub 3. Listing Porgram Form 2 Private Sub Command1_Click() Form1.List1.Clear If File1.ListCount > 0 Then For i = 0 To File1.ListCount - 1 'File1.ListIndex = i Form1.List1.AddItem File1.List(i) Next i End If pathload = Dir1.Path If Right(pathload, 1) <> "\" Then pathload = pathload & "\" End If 'Form1.Command6.Value = True Unload Me End Sub Private Sub Dir1_Change() File1.Path = Dir1.Path pathload = Dir1.Path If Right(pathload, 1) <> "\" Then pathload = pathload & "\" End If Label1.Caption = pathload End Sub Private Sub Drive1_Change() Dir1.Path = Left(Drive1.Drive, 2) & "\"

34 L34 End Sub Private Sub Form_Load() Drive1.Drive = "C" Dir1.Path = Left(Drive1.Drive, 2) & "\" File1.FileName = "*.txt" File1.Path = Dir1.Path If File1.ListCount > 0 Then For i = 0 To File1.ListCount - 1 'File1.ListIndex = i List1.AddItem File1.List(i) Next i End If End Sub

35 L35 LAMPIRAN PROGRAM CODE MATLAB Lampiran Listing Program Menu1.m function varargout = Menu1(varargin) % MENU1 Application M-file for Menu1.fig % FIG = MENU1 launch Menu1 GUI. % MENU1('callback_name',...) invoke the named callback. % Last Modified by GUIDE v Oct :22:37 % Latest Modified by FA2 v Nov-2008 if nargin == 0 % LAUNCH GUI fig = openfig(mfilename,'reuse'); % Generate a structure of handles to pass to callbacks, and store it. handles = guihandles(fig); guidata(fig, handles); if nargout > 0 varargout{1} = fig; if ischar(varargin{1}) % INVOKE NAMED SUBFUNCTION OR CALLBACK try if (nargout) [varargout{1:nargout}] = feval(varargin{:}); % FEVAL switchyard feval(varargin{:}); % FEVAL switchyard catch disp(lasterr); %Function untuk tombol masuk ke menu Direct Kinematics function varargout = Pilih_Direct_Callback(h, eventdata, handles, varargin) Menu21 %buka window menu input direct Kinematics delete(handles.menu1) % hapus menu pilihan simulasi (direct atau inverse) %Function untuk tombol masuk ke menu Inverse Kinematics function varargout = Pilih_Inverse_Callback(h, eventdata, handles, varargin) Menu31 % buka window menu input inverse Kinematics

36 L36 Petunjuk % buka window menu petunjuk didepan window input inverse Kinematics delete(handles.menu1) % hapus menu pilihan simulasi (direct atau inverse) Menu21.m function varargout = Menu21(varargin) % MENU1 Application M-file for Menu21.fig % FIG = MENU1 launch Menu21 GUI. % MENU1('callback_name',...) invoke the named callback. % Last Modified by GUIDE v Nov :14:31 % Latest Modified by FA2 v Nov-2008 if nargin == 0 % LAUNCH GUI fig = openfig(mfilename,'reuse'); % Generate a structure of handles to pass to callbacks, and store it. handles = guihandles(fig); guidata(fig, handles); if nargout > 0 varargout{1} = fig; if ischar(varargin{1}) % INVOKE NAMED SUBFUNCTION OR CALLBACK try if (nargout) [varargout{1:nargout}] = feval(varargin{:}); % FEVAL switchyard feval(varargin{:}); % FEVAL switchyard catch disp(lasterr); %function untuk memilih salah satu arah pada setiap joint function mutual_exclude(off) set(off,'value',0) % jika pilih radio button arah positif untuk joint 1 function varargout = Positif_J1_Callback(h, eventdata, handles, varargin) off = [handles.negatif_j1]; mutual_exclude(off)

37 L37 % jika pilih radio button arah negatif untuk joint 1 function varargout = Negatif_J1_Callback(h, eventdata, handles, varargin) off = [handles.positif_j1]; mutual_exclude(off) % jika pilih radio button arah positif untuk joint 2 function varargout = Positif_J2_Callback(h, eventdata, handles, varargin) off = [handles.negatif_j2]; mutual_exclude(off) % jika pilih radio button arah negatif untuk joint 2 function varargout = Negatif_J2_Callback(h, eventdata, handles, varargin) off = [handles.positif_j2]; mutual_exclude(off) % jika pilih radio button arah positif untuk joint 3 function varargout = Positif_J3_Callback(h, eventdata, handles, varargin) off = [handles.negatif_j3]; mutual_exclude(off) % jika pilih radio button arah negatif untuk joint 3 function varargout = Negatif_J3_Callback(h, eventdata, handles, varargin) off = [handles.positif_j3]; mutual_exclude(off) % jika pilih radio button arah positif untuk joint 4 function varargout = Positif_J4_Callback(h, eventdata, handles, varargin) off = [handles.negatif_j4]; mutual_exclude(off) % jika pilih radio button arah negatif untuk joint 4 function varargout = Negatif_J4_Callback(h, eventdata, handles, varargin) off = [handles.positif_j4]; mutual_exclude(off) % jika pilih radio button arah positif untuk joint 5 function varargout = Positif_J5_Callback(h, eventdata, handles, varargin) off = [handles.negatif_j5]; mutual_exclude(off) % jika pilih radio button arah negatif untuk joint 5 function varargout = Negatif_J5_Callback(h, eventdata, handles, varargin) off = [handles.positif_j5]; mutual_exclude(off) % function untuk mem-validasi dan memasukkan sudut dari joint 1 function varargout = Input_J1_Callback(h, eventdata, handles, varargin)

38 L38 global user_entry_j1 user_entry_j1 = str2double(get(h,'string')); if isnan(user_entry_j1) errordlg('masukkan Angka!','Harus Angka','modal') set(h,'string',''); if (user_entry_j1 > 90) (user_entry_j1 < 0) errordlg('input Joint 1 tidak boleh lebih dari 90 derajat atau Kurang dari 0 derajat','batas derajat','modal') set(h,'string',''); if (get(handles.negatif_j1,'value') == get(handles.positif_j1,'value')) errordlg('tentukan dulu arahnya','arah','modal'); set(h,'string',''); ; ; % function untuk mem-validasi dan memasukkan sudut dari joint 2 function varargout = Input_J2_Callback(h, eventdata, handles, varargin) global user_entry_j2 user_entry_j2 = str2double(get(h,'string')); if isnan(user_entry_j2) errordlg('masukkan Angka!','Harus Angka','modal') set(h,'string',''); if (user_entry_j2 > 90) (user_entry_j2 < 0) errordlg('input Joint 2 tidak boleh lebih dari 90 derajat atau Kurang dari 0 derajat','batas derajat','modal') set(h,'string',''); if (get(handles.negatif_j2,'value') == get(handles.positif_j2,'value')) errordlg('tentukan dulu arahnya','arah','modal'); set(h,'string',''); ; ; % function untuk mem-validasi dan memasukkan sudut dari joint 3 function varargout = Input_J3_Callback(h, eventdata, handles, varargin) global user_entry_j3 user_entry_j3 = str2double(get(h,'string')); if isnan(user_entry_j3) errordlg('masukkan Angka!','Harus Angka','modal') set(h,'string',''); if (user_entry_j3 > 90) (user_entry_j3 < 0)

39 L39 errordlg('input Joint 3 tidak boleh lebih dari 90 derajat atau Kurang dari 0 derajat','batas derajat','modal') set(h,'string',''); if (get(handles.negatif_j3,'value') == get(handles.positif_j3,'value')) errordlg('tentukan dulu arahnya','arah','modal'); set(h,'string',''); ; ; % function untuk mem-validasi dan memasukkan sudut dari joint 4 function varargout = Input_J4_Callback(h, eventdata, handles, varargin) global user_entry_j4 user_entry_j4 = str2double(get(h,'string')); if isnan(user_entry_j4) errordlg('masukkan Angka!','Harus Angka','modal') set(h,'string',''); if (user_entry_j4 > 90) (user_entry_j4 < 0) errordlg('input Joint 4 tidak boleh lebih dari 90 derajat atau Kurang dari 0 derajat','batas derajat','modal') set(h,'string',''); if (get(handles.negatif_j4,'value') == get(handles.positif_j4,'value')) errordlg('tentukan dulu arahnya','arah','modal'); set(h,'string',''); ; ; % function untuk mem-validasi dan memasukkan sudut dari joint 5 function varargout = Input_J5_Callback(h, eventdata, handles, varargin) global user_entry_j5 user_entry_j5 = str2double(get(h,'string')); if isnan(user_entry_j5) errordlg('masukkan Angka!','Harus Angka','modal') set(h,'string',''); if (user_entry_j5 > 0) (user_entry_j5 < 0) errordlg('input Joint 5 tidak boleh lebih atau kurang dari 0 derajat','batas derajat','modal') set(h,'string',''); if (get(handles.negatif_j5,'value') == get(handles.positif_j5,'value')) errordlg('tentukan dulu arahnya','arah','modal'); set(h,'string','');

40 L40 ; ; % Function bagi tombol reset yang akan menghapus semua input baik arah maupun sudut-sudut joint function varargout = Reset_Callback(h, eventdata, handles, varargin) set(handles.negatif_j1,'value',0); set(handles.positif_j1,'value',0); set(handles.negatif_j2,'value',0); set(handles.positif_j2,'value',0); set(handles.negatif_j3,'value',0); set(handles.positif_j3,'value',0); set(handles.negatif_j4,'value',0); set(handles.positif_j4,'value',0); set(handles.negatif_j5,'value',0); set(handles.positif_j5,'value',0); set(handles.input_j1,'string',''); set(handles.input_j2,'string',''); set(handles.input_j3,'string',''); set(handles.input_j4,'string',''); set(handles.input_j5,'string',''); % Funtion untuk mengambil input, memproses melalui perhitungan direct Kinematics, lalu hasilnya ditampilkan function varargout = Kalkulasi_Direct_Callback(h, eventdata, handles, varargin) global user_entry_j1 user_entry_j2 user_entry_j3 user_entry_j4 user_entry_j5 Theta1 Theta2 Theta3 Theta4 Theta5 if isempty(get(handles.input_j1,'string')) isempty(get(handles.input_j2,'string')) isempty(get(handles.input_j3,'string')) isempty(get(handles.input_j4,'string')) isempty(get(handles.input_j5,'string')), errordlg('masih ada input yang kurang nih!','kurang lengkap','modal') %Mengambil input untuk Theta1, Theta2, Theta3, Theta4 dan Theta5 if (get(handles.positif_j1,'value') == get(handles.positif_j1,'min'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'min'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'min'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'min'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'min')) Theta1 = str2double(get(handles.input_j1,'string'))*-1; Theta2 = str2double(get(handles.input_j2,'string'))*-1; Theta3 = str2double(get(handles.input_j3,'string'))*-1; Theta4 = str2double(get(handles.input_j4,'string'))*-1; Theta5 = str2double(get(handles.input_j5,'string'))*-1; HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics

41 L41 if (get(handles.positif_j1,'value') == get(handles.positif_j1,'max'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'max'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'max'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'max'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'max')) Theta1 = str2double(get(handles.input_j1,'string')); Theta2 = str2double(get(handles.input_j2,'string')); Theta3 = str2double(get(handles.input_j3,'string')); Theta4 = str2double(get(handles.input_j4,'string')); Theta5 = str2double(get(handles.input_j5,'string')); HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'min'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'max'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'max'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'max'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'max')) Theta1 = str2double(get(handles.input_j1,'string'))*-1; Theta2 = str2double(get(handles.input_j2,'string')); Theta3 = str2double(get(handles.input_j3,'string')); Theta4 = str2double(get(handles.input_j4,'string')); Theta5 = str2double(get(handles.input_j5,'string')); HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'max'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'min'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'max'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'max'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'max')) Theta1 = str2double(get(handles.input_j1,'string')); Theta2 = str2double(get(handles.input_j2,'string'))*-1; Theta3 = str2double(get(handles.input_j3,'string')); Theta4 = str2double(get(handles.input_j4,'string')); Theta5 = str2double(get(handles.input_j5,'string')); HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'max'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'max'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'min'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'max'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'max')) Theta1 = str2double(get(handles.input_j1,'string')); Theta2 = str2double(get(handles.input_j2,'string')); Theta3 = str2double(get(handles.input_j3,'string'))*-1;

42 L42 Theta4 = str2double(get(handles.input_j4,'string')); Theta5 = str2double(get(handles.input_j5,'string')); HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'max'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'max'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'max'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'min'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'max')) Theta1 = str2double(get(handles.input_j1,'string')); Theta2 = str2double(get(handles.input_j2,'string')); Theta3 = str2double(get(handles.input_j3,'string')); Theta4 = str2double(get(handles.input_j4,'string'))*-1; Theta5 = str2double(get(handles.input_j5,'string')); HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'max'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'max'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'max'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'max'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'min')) Theta1 = str2double(get(handles.input_j1,'string')); Theta2 = str2double(get(handles.input_j2,'string')); Theta3 = str2double(get(handles.input_j3,'string')); Theta4 = str2double(get(handles.input_j4,'string')); Theta5 = str2double(get(handles.input_j5,'string'))*-1; HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'min'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'min'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'max'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'max'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'max')) Theta1 = str2double(get(handles.input_j1,'string'))*-1; Theta2 = str2double(get(handles.input_j2,'string'))*-1; Theta3 = str2double(get(handles.input_j3,'string')); Theta4 = str2double(get(handles.input_j4,'string')); Theta5 = str2double(get(handles.input_j5,'string')); HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'min'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'max'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'min'))...

43 L43 & (get(handles.positif_j4,'value') == get(handles.positif_j4,'max'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'max')) Theta1 = str2double(get(handles.input_j1,'string'))*-1; Theta2 = str2double(get(handles.input_j2,'string')); Theta3 = str2double(get(handles.input_j3,'string'))*-1; Theta4 = str2double(get(handles.input_j4,'string')); Theta5 = str2double(get(handles.input_j5,'string')); HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'min'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'max'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'max'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'min'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'max')) Theta1 = str2double(get(handles.input_j1,'string'))*-1; Theta2 = str2double(get(handles.input_j2,'string')); Theta3 = str2double(get(handles.input_j3,'string')); Theta4 = str2double(get(handles.input_j4,'string'))*-1; Theta5 = str2double(get(handles.input_j5,'string')); HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'min'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'max'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'max'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'max'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'min')) Theta1 = str2double(get(handles.input_j1,'string'))*-1; Theta2 = str2double(get(handles.input_j2,'string')); Theta3 = str2double(get(handles.input_j3,'string')); Theta4 = str2double(get(handles.input_j4,'string')); Theta5 = str2double(get(handles.input_j5,'string'))*-1; HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'max'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'min'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'min'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'max'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'max')) Theta1 = str2double(get(handles.input_j1,'string')); Theta2 = str2double(get(handles.input_j2,'string'))*-1; Theta3 = str2double(get(handles.input_j3,'string'))*-1; Theta4 = str2double(get(handles.input_j4,'string')); Theta5 = str2double(get(handles.input_j5,'string')); HitDirect %Function untuk menghitung input direct Kinematics

44 L44 Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'max'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'min'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'max'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'min'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'max')) Theta1 = str2double(get(handles.input_j1,'string')); Theta2 = str2double(get(handles.input_j2,'string'))*-1; Theta3 = str2double(get(handles.input_j3,'string')); Theta4 = str2double(get(handles.input_j4,'string'))*-1; Theta5 = str2double(get(handles.input_j5,'string')); HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'max'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'min'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'max'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'max'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'min')) Theta1 = str2double(get(handles.input_j1,'string')); Theta2 = str2double(get(handles.input_j2,'string'))*-1; Theta3 = str2double(get(handles.input_j3,'string')); Theta4 = str2double(get(handles.input_j4,'string')); Theta5 = str2double(get(handles.input_j5,'string'))*-1; HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'max'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'max'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'min'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'min'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'max')) Theta1 = str2double(get(handles.input_j1,'string')); Theta2 = str2double(get(handles.input_j2,'string')); Theta3 = str2double(get(handles.input_j3,'string'))*-1; Theta4 = str2double(get(handles.input_j4,'string'))*-1; Theta5 = str2double(get(handles.input_j5,'string')); HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'max'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'max'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'min'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'max'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'min')) Theta1 = str2double(get(handles.input_j1,'string'));

45 L45 Theta2 = str2double(get(handles.input_j2,'string')); Theta3 = str2double(get(handles.input_j3,'string'))*-1; Theta4 = str2double(get(handles.input_j4,'string')); Theta5 = str2double(get(handles.input_j5,'string'))*-1; HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'max'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'max'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'max'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'min'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'min')) Theta1 = str2double(get(handles.input_j1,'string')); Theta2 = str2double(get(handles.input_j2,'string')); Theta3 = str2double(get(handles.input_j3,'string')); Theta4 = str2double(get(handles.input_j4,'string'))*-1; Theta5 = str2double(get(handles.input_j5,'string'))*-1; HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'min'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'min'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'min'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'max'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'max')) Theta1 = str2double(get(handles.input_j1,'string'))*-1; Theta2 = str2double(get(handles.input_j2,'string'))*-1; Theta3 = str2double(get(handles.input_j3,'string'))*-1; Theta4 = str2double(get(handles.input_j4,'string')); Theta5 = str2double(get(handles.input_j5,'string')); HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'min'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'min'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'max'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'min'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'max')) Theta1 = str2double(get(handles.input_j1,'string'))*-1; Theta2 = str2double(get(handles.input_j2,'string'))*-1; Theta3 = str2double(get(handles.input_j3,'string')); Theta4 = str2double(get(handles.input_j4,'string'))*-1; Theta5 = str2double(get(handles.input_j5,'string')); HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'min'))...

46 L46 & (get(handles.positif_j2,'value') == get(handles.positif_j2,'min'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'max'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'max'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'min')) Theta1 = str2double(get(handles.input_j1,'string'))*-1; Theta2 = str2double(get(handles.input_j2,'string'))*-1; Theta3 = str2double(get(handles.input_j3,'string')); Theta4 = str2double(get(handles.input_j4,'string')); Theta5 = str2double(get(handles.input_j5,'string'))*-1; HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'min'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'max'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'min'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'max'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'min')) Theta1 = str2double(get(handles.input_j1,'string'))*-1; Theta2 = str2double(get(handles.input_j2,'string')); Theta3 = str2double(get(handles.input_j3,'string'))*-1; Theta4 = str2double(get(handles.input_j4,'string')); Theta5 = str2double(get(handles.input_j5,'string'))*-1; HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'min'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'max'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'max'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'min'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'min')) Theta1 = str2double(get(handles.input_j1,'string'))*-1; Theta2 = str2double(get(handles.input_j2,'string')); Theta3 = str2double(get(handles.input_j3,'string')); Theta4 = str2double(get(handles.input_j4,'string'))*-1; Theta5 = str2double(get(handles.input_j5,'string'))*-1; HitDirect %Function untuk menghitung input direct Kinematics Menu22 %buka menu tampilan hasil perhitungan Direct Kinematics if (get(handles.positif_j1,'value') == get(handles.positif_j1,'max'))... & (get(handles.positif_j2,'value') == get(handles.positif_j2,'min'))... & (get(handles.positif_j3,'value') == get(handles.positif_j3,'max'))... & (get(handles.positif_j4,'value') == get(handles.positif_j4,'min'))... & (get(handles.positif_j5,'value') == get(handles.positif_j5,'min')) Theta1 = str2double(get(handles.input_j1,'string')); Theta2 = str2double(get(handles.input_j2,'string'))*-1; Theta3 = str2double(get(handles.input_j3,'string')); Theta4 = str2double(get(handles.input_j4,'string'))*-1;